34results about How to "Guaranteed landing" patented technology

The invention provides an AGV chassis structure capable of adapting to ground deformation. The AGV chassis structure comprises a bearing vehicle frame, a first movable vehicle frame, a second movable vehicle frame, a drive device and bearing wheels. The inner end of the first movable vehicle frame and the inner end of the second movable vehicle frame are hinged through a hinging shaft. The drive device comprises drive motors, drive shafts and drive wheels, wherein the drive shafts are coaxially connected with the hinging shaft, and the drive motors drive the drive wheels through the drive shafts. A first hinging hole is formed in the first movable vehicle frame, a second hinging hole is formed in the second movable vehicle frame, the bearing vehicle frame is hinged to the first hinging hole through a first connecting pin and hinged to the second hinging hole through a second connecting pin, and the second hinging hole is a kidney-shaped hole. When the first movable vehicle frame and the second movable vehicle frame relatively rotate around the hinging shaft, the first connecting pin moves relative to the first hinging hole, and the second connecting pin moves relative to the second hinging hole. When the AGV chassis structure encounters the uneven ground, the first movable vehicle frame and the second movable vehicle frame rotate relatively, it is guaranteed that the drive wheels are landed, and the uneven ground is adjusted.

The invention discloses a multi-link suspension system for a wheeled mobile robot, which comprises two driving wheels (4) located at the front end, and the inside of the two driving wheels (4) is provided with a vertical plate type reducer bracket (5), the center of the reducer bracket (5) is provided with a first through hole for passing through the output shaft of the reducer (3) and coaxial with the driving wheel (4), and the two reducer brackets ( 5) respectively connected with the parallelogram connecting rod swing mechanism. The invention provides a multi-link suspension system for a wheeled mobile robot, which can ensure that the driving wheels are always on the ground, improve the ground adaptability of the robot chassis, and prevent the driving wheels from being lifted off by the driven wheels, causing the driving wheels to spin or slip. , affect the motion performance of the robot, reduce the wear of the driving wheel, and improve its motion stability and reliability.

The invention relates to the field of steel smelting, and particularly discloses a method of reducing contents of free calcium oxide and magnesium oxide in converter steel slag and improving steel slag stability. The method includes maintaining the temperature of the steel slag by utilization of waste heat after liquid steel slag pelletization treatment, increasing pressure during a temperature maintaining process, and subjecting the pelletized steel slag to autoclaving treatment. By utilization of the technology, the waste heat after steel slag treatment is effectively utilized, and therefore heat lost during treatment processes of the steel slag is utilized reasonably and effectively, thus saving energy, and increasing additional value of steel slag production.

The invention discloses a suspension device for a wheeled mobile robot. Two first through holes used for two wheels (11) to penetrate through are formed in a chassis (1), two supporting bases (2) are fixedly arranged in the middle, between the two first through holes, of the chassis (1), are arranged oppositely and are each horizontally provided with two second through holes used for rotating shafts (6) to penetrate through, each rotating shaft (6) is fixedly connected with one end of the corresponding wheel support (7), the other ends of the two wheel supports (7) are connected with the two wheels (11) respectively, a gap is formed between the two wheel supports (7), and plate springs (4) are arranged at the opposite ends of the two wheel supports (7). The suspension device for the wheeled mobile robot relieves robot jolting caused by wheel vibration, improves driving stability of the robot, can adjust the distance from the driving wheels to the ground, and guarantees that the wheels touch the ground all the time.

The invention provides a heating system for an airport bituminous concrete runway. The heating system is capable of quickly melting ice and snow, low in maintenance cost, safe and reliable. The heating system comprises an electric heating layer and a heating circuit, wherein the electric heating layer is located in the airport bituminous concrete runway, and the heating circuit is connected with the electric heating layer. The electric heating layer comprises a steel wire gauze or a geogrid and a carbon fiber heating wire, wherein the carbon fiber heating wire is arranged in a snakelike mode along the steel wire gauze or the geogrid. The heating system for the airport bituminous concrete runway can quickly and automatically melt the ice and snow on the airport bituminous concrete runway in winter, makes an airport operate normally in snowy weather, ensures safe taxiing, taking-off and landing of airplanes, and is low in construction cost, operating cost and maintenance cost, high in effective utilization rate of heat, friendly to the environment, economical, safe and reliable.

The invention relates to the field of unmanned aerial vehicles, in particular to a vehicle-mounted landing method and system for an unmanned aerial vehicle. The method comprises the steps: starting avehicle-mounted landing flight mode of the unmanned aerial vehicle; transmitting the speed information and the position information of the vehicle to the unmanned aerial vehicle; enabling the unmannedaerial vehicle to acquire speed information and position information of the vehicle; controlling the unmanned aerial vehicle to fly to a preset height range; combining the speed information and the position information of the vehicle with the position quantity and the speed quantity of the unmanned aerial vehicle and an algorithm updating period to obtain a control quantity, and further converting the control quantity into attitude information to control the flight information of the unmanned aerial vehicle to be matched with the motion information of the vehicle, so that the unmanned aerialvehicle is kept in a moving state, and descends and lands to a target position. The flight information of the unmanned aerial vehicle is controlled to be matched with the vehicle motion information, the flight information of the unmanned aerial vehicle can be well adjusted to be matched with the vehicle motion information, and successful landing of the unmanned aerial vehicle is guaranteed.

The invention discloses a cabin control system for an unmanned aerial vehicle on an unmanned ship. The cabin control system for the unmanned aerial vehicle on the unmanned ship comprises an equipment frame as well as a controller, a direct current motor, a driver, a lifting platform, a cabin door, a locking device, a micro gyroscope and a direct current power supply, wherein the controller, the direct current motor, the driver, the lifting platform, the cabin door, the locking device, the micro gyroscope and the direct current power supply are mounted on the equipment frame; the controller is connected with the driver through a communication interface; the controller sends an instruction to the driver; the driver outputs a signal to drive the direct current motor to work; the direct current motor controls the lifting platform, the cabin door and the locking device to act; the direct current power supply provides power supply to the controller and the direct current motor; the cabin door is used for pushing the unmanned aerial vehicle, which lands the lifting platform, to the right middle position of the lifting platform in a transverse direction; the locking device is used for pushing the unmanned aerial vehicle, which lands the lifting platform, to the right middle position of the lifting platform in a longitudinal direction; and the micro gyroscope is used for detecting the integral shaking state of the cabin of the unmanned aerial vehicle. The cabin control system for the unmanned aerial vehicle on the unmanned ship is advantaged in that platform preparation can be well made for the unmanned aerial vehicle to smoothly land the unmanned ship and the firm staying of the equipment can be also ensured by using the locking device.

The invention belongs to the field of unmanned helicopters, and discloses an unmanned helicopter landing gear. The landing gear comprises a first bow beam, a second bow beam, a first skid, a second skid, and connecting devices which are arranged on the first bow beam and the second bow beam respectively and are used for connecting a rack, wherein each of the first skid and the second skid consists of a horizontal section in the middle and U-shaped transition sections at two ends; each of the first bow beam and the second bow beam consists of a straight line section at the upper part and arc-shaped sections at two ends; and the first skid and the second skid are symmetrically arranged between two ends of the first bow beam and the second bow beam respectively, and form included angles of 2-5 degrees with the vertical direction. The landing gear provided by the invention has extremely good impact resistance, and the connecting devices of the landing gear can ensure safe takeoff and landing of a helicopter; and the overall structure of the unmanned helicopter landing gear is simple, lightweight and flexible, the body weight of an unmanned helicopter is reduced, and the landing gear is easy to produce.

The invention belongs to the technical field of air conditioners, and discloses a distributed air duct system, a control method, an air conditioner, a medium and a terminal. By utilizing a plurality of independently controlled air outlets of a front panel, the range of air supply in the vertical air direction in a heating mode and a refrigerating mode is controlled. A volute air baffle and a volute flow guide plate are driven by a motor to turn over, opening or closing of volute air outlets is controlled, and opening or closing of the four air outlets of the front panel is further controlled.The two lower air outlets are opened in the heating mode to ensure that hot air falls to the ground, and all the four air outlets are opened in the refrigerating mode to realize large-range cold air conveying in the vertical direction. The four independently-controlled air outlets are formed in the front panel, air output of the space corresponding to each air outlet can be more accurately controlled, each air outlet can be opened or closed according to needs, and the air supply range is more accurate. The four vertically-arranged air outlets can guarantee the air supply range in the verticaldirection, and the air outlet thickness is guaranteed.

The invention relates to a spring type multi-functional air cannon free of an air source. The air cannon is characterized in that the elastic potential performance of a spring is collected by the aidof a mechanism and becomes the kinetic energy of the air cannon after being shot, the bird repelling effect is relatively ideal, and accidents that birds strike airplanes can be effectively preventedand reduced; during emergency rescue and disaster relief, life rafts, life buoys, life lines and anchor hooks can be thrown, and cables can be thrown on warships; during dealing with pirates, water can be sprayed by the aid of water cannons, and stones and bricks can be thrown; during fire extinguishment for high-rises, fire extinguishing bombs can be shot, and bricks and stones can be thrown to break doors and windows; during anti-terrorism actions, extra-large catching nets, bombs, tear bombs and smoke bombs can be shot; and during meeting with foreign guests, the air cannon can be used as asalute.

The invention discloses a mist spray anti-drifting device for an agricultural unmanned aerial vehicle and a method for applying the mist spray anti-drifting device.The mist spray anti-drifting device comprises a control end, three driving devices and a support rod assembly.The control end comprises a transmitter and a receiver, the driving devices comprise power devices, transmission gears and bases, the support rod assembly comprises a main support rod, a left support rod and a right support rod, and the three driving devices are respectively arranged between the main support rod and an unmanned aerial vehicle body, between the main support rod and the left support rod and between the main support rod and the right support rod and can drive the support rod assembly to be folded and unfolded under the control of the control end; pesticide delivery hoses are arranged in the various support rods of the support rod assembly, and mist spray nozzles are arranged at corresponding positions of the left support rod and the right support rod.The mist spray anti-drifting device and the method have the advantages that the designed support rods are of unfolding and folding structures, can be folded when operation is not carried out and can be unfolded when spray and application operation is carried out; the nozzles are lowered, so that sprayed and applied fog drop can be kept away from influence of wind fields, accurate aviation spray and application operation can be carried out, and the mist spray anti-drifting device is simple in structure and easy and convenient to operate and is small and safe.

The invention provides automatic equipment for ring cutting and chamfering of a cast pipe. The automatic equipment comprises a ring cutting and chamfering device, a cast pipe socket end face detectingdevice, a cast pipe supporting device, a cast pipe positioning device and a controller; the ring cutting and chamfering device comprises a six-freedom-degree manipulator, a cutting motor, a grindinghead and a cutting disc; the cutting motor is rotationally connected with a shaft T of the six-freedom-degree manipulator; the two ends of the cutting motor are each provided with an output shaft; theoutput shaft at one end of the cutting motor is fixedly connected with the grinding head; and the output shaft at the other end of the cutting motor is fixedly connected with the cutting disc. The automatic equipment provided by the invention can implement ring cutting of the cast pipe, can also implement chamfering after ring cutting is ended, and realizes unmanned operation in the whole processfrom the moment the cast pipe enters the station to the moment the cast pipe leaves away from the station.

The invention relates to the technical field of logistics handling equipment, in particular to an automated guided vehicle. The automated guided vehicle comprises a vehicle body, a driving mechanism and a steering mechanism; the driving mechanism is used for driving drive wheels at the two sides of the vehicle body to rotate; the steering mechanism comprises a first driving device, a transmissionassembly and a rotating supporting frame, and the first driving device transmits power to steering wheels through the transmission assembly; a second driving device and the transmission assembly are located on the rotating supporting frame, and the rotating supporting frame is rotationally connected with a vehicle frame of the vehicle body in the longitudinal direction of the vehicle body so thatthe steering wheels at the two sides of the vehicle body can rotate around a rotating shaft of the rotating supporting frame. The automated guided vehicle has the advantages that the rotating supporting frame capable of rotating in the longitudinal direction of the vehicle body is designed, thereby being capable of ensuring that the steering wheels at the two sides touch the ground simultaneously,the adaptability to the ground is high, the flatness of the ground cannot affect normal running of the automated guided vehicle, the structure is simple, the manufacturing difficulty is small, the cost is low, and the automated guided vehicle is suitable for large-batch promotion and use.

The invention provides an AGV chassis structure capable of adapting to ground deformation. The AGV chassis structure comprises a bearing vehicle frame, a first movable vehicle frame, a second movable vehicle frame, a drive device and bearing wheels. The inner end of the first movable vehicle frame and the inner end of the second movable vehicle frame are hinged through a hinging shaft. The drive device comprises drive motors, drive shafts and drive wheels, wherein the drive shafts are coaxially connected with the hinging shaft, and the drive motors drive the drive wheels through the drive shafts. A first hinging hole is formed in the first movable vehicle frame, a second hinging hole is formed in the second movable vehicle frame, the bearing vehicle frame is hinged to the first hinging hole through a first connecting pin and hinged to the second hinging hole through a second connecting pin, and the second hinging hole is a kidney-shaped hole. When the first movable vehicle frame and the second movable vehicle frame relatively rotate around the hinging shaft, the first connecting pin moves relative to the first hinging hole, and the second connecting pin moves relative to the second hinging hole. When the AGV chassis structure encounters the uneven ground, the first movable vehicle frame and the second movable vehicle frame rotate relatively, it is guaranteed that the drive wheels are landed, and the uneven ground is adjusted.

The invention provides a comfortable temperature adjustment control method and device, an air conditioner and a computer readable storage medium. The control method comprises the steps that after the air conditioner is started and a heating mode is started, the air conditioner enters a preset comfortable temperature adjustment control mode; the current indoor environment temperature T ring of the air conditioner and the current indoor coil pipe temperature T coil of the air conditioner are obtained; the indoor environment temperature T ring is pre-compared with a preset indoor environment temperature T ring to obtain a first comparison result; according to the first comparison result, the preset indoor coil pipe temperature T coil is determined; the indoor coil pipe temperature T coil is pre-compared with the preset indoor coil pipe temperature T coil, and a second comparison result is obtained; and preset compressor operation frequency control logic is executed according to the second comparison result. The running frequency of a compressor is adjusted by judging the temperature interval where the inner ring temperature belongs to and the interval where the inner disc temperature belongs to, the air outlet temperature of the air conditioner is adjusted according to the indoor air density, it is guaranteed that hot air blown out of the air conditioner can fall to the ground, and temperature stratification is effectively avoided.

The invention provides a steel bar trolley suitable for construction of a turning section. The steel bar trolley comprise a steel bar trolley truss, a plurality of layers of side face platforms located on the two sides of the steel bar trolley truss correspondingly, trolley crawling ladders, traveling systems and a rail. A plurality of sets of connecting holes are formed in two corresponding bottom longitudinal beams of the steel bar trolley truss. Each traveling system comprises a traveling longitudinal beam, inner traveling steel wheels and outer traveling steel wheels, wherein the inner traveling steel wheels and the outer traveling steel wheels are installed on the traveling longitudinal beam and driven by a motor through a sprocket-chain transmission mechanism to travel on the rail, and the diameter of the inner traveling steel wheels is smaller than that of the outer traveling steel wheels. Traveling wheel hinging seats are hinged to the traveling longitudinal beams through rotary shafts. Connecting seats are installed at the tops of the traveling wheel hinging seats. A plurality of connecting holes are formed in the connecting seats. The connecting seats are connected with the bottom longitudinal beams in the steel bar trolley truss by means of connectors through the connecting holes in the connecting seats and connecting holes in the bottom longitudinal beams. According to the steel bar trolley, the universality is high, the traveling speed of the trolley is high, the requirement that the trolley operates to a specific position smoothly through turning can be met, and safety is achieved.

The invention relates to the technical field of railway dispatching, and particularly relates to a train timetable adjusting method and system based on invalid stop time distribution. The method comprises the steps of calculating valid stop time and invalid stop time; equally dividing the invalid stop time, successively distributing the equally divided invalid stop time to a train running chart, calculating an energy consumption reduction ratio, and finding out an optimal energy reduction ratio; obtaining an optimized train running chart according to the obtained optimal energy reduction ratio; and carrying out stability judgment on the optimized train running chart, and if the stability judgment is met, determining that the train running chart is a target train running chart. On the basisof ensuring the stability of the front and rear train timetables, the stop time is adjusted. Whether the train has invalid stop time or not is judged, and the invalid stop time is distributed, so that the safety interval of the train, station operation, passenger boarding and alighting and other related constraints are guaranteed, the running energy consumption of the train is reduced, and the running cost of the railway is reduced.

The invention discloses a vehicle-mounted unmanned aerial vehicle take-off and landing method, which is used for making an unmanned aerial vehicle land on a vehicle body running on the ground. The method comprises the following steps: S1, starting a vehicle-mounted landing flight mode of the unmanned aerial vehicle; S2, sending speed information and position information of the vehicle to the unmanned aerial vehicle; S3, making the unmanned aerial vehicle acquire the speed information and the position information of the vehicle; S4, making the unmanned aerial vehicle fly to a preset height range; and S5, combining the speed information and the position information of the vehicle with a position quantity and a speed quantity of the unmanned aerial vehicle and an algorithm updating period tocalculate and obtain a control quantity, converting the control quantity into attitude information to make the unmanned aerial vehicle flight information be matched with vehicle motion information, making the unmanned aerial vehicle be kept in a motion state, descending at a height and landing to a target position. The speed information and the position information of the vehicle are combined withthe position quantity, the speed quantity of the unmanned aerial vehicle and the algorithm updating period to obtain the control quantity, the flight information of the unmanned aerial vehicle can bewell adjusted to be matched with the motion information of the vehicle, and successful landing of the unmanned aerial vehicle is guaranteed.

The invention discloses a self-learning smart home control method, a terminal and a computer readable storage medium, and the method comprises the steps: obtaining historical use data of a target object, and carrying out the segmentation processing of the historical use data, and obtaining a multi-dimensional record matrix; analyzing the record matrix through a self-learning algorithm, determining the habit frequency of the target object in each time period, and prompting a use suggestion to the target object according to the habit frequency; and controlling the smart home equipment corresponding to the habit frequency to perform corresponding operation response according to the use suggestion and the confirmation information of the target object. According to the invention, the use data of the user for historically controlling the intelligent equipment is obtained, and the use suggestions related to the habits of the user are prompted to the user by using the self-learning algorithm, so that the control mode of the self-learning intelligent home is realized based on the statistical learning mode, the robustness of user data calculation is improved, and the user experience is improved. Resources required by user data calculation are reduced, and industrial application is guaranteed.

The invention discloses a hydraulic support column cap for a coal mine and belongs to the field of hydraulic supports for coal mines. The hydraulic support column cap comprises a base plate and a first installation column and a second installation column which are arranged on the base plate. The first installation column and the second installation column are fixed on the same side of the base plate correspondingly and vertically. An installation hole is formed in each installation column, and a reinforcing block is arranged on the other side of the base plate. The hydraulic support column is simple in manufacture process and simple to install. A guardrail and the columns are in interface fit and ensure that the column cap can be used for hydraulic supports of most types. Meanwhile, the base plate of the column cap is long, and the integrity of a middle beam of the hydraulic support is fully utilized to improve pressure resistance. After the column cap is used, the effect is remarkable, the columns of the support have the reliable support points, and the requirements for support lifting resistance and rated working resistance can be met under the condition that two columns of the support are destroyed.

The invention relates to the technical field of railway dispatching, in particular to a train schedule adjustment method and system based on invalid stop time allocation. The method includes: calculating the effective stop time and the invalid stop time; dividing the invalid stop time into equal parts, and distributing the equalized invalid stop time to the train diagram one by one, calculating the energy consumption reduction ratio, and finding the optimal energy drop ratio; according to the optimal energy drop ratio obtained, the optimized train diagram is obtained; the optimized train diagram is subjected to stability judgment, if the stability judgment is satisfied, then the train diagram is the target train operation picture. The invention adjusts the stop time on the basis of ensuring the stability of the front and rear train schedules. Judging whether there is an invalid stop time for the train, and allocating the invalid stop time not only ensures the safety interval of the train, station operation, passenger boarding and landing and other related constraints, but also reduces the energy consumption of the train operation and reduces the operating cost of the railway.

The invention discloses a wheeled mobile robot suspension device. The device is characterized by comprising a chassis (1), the middle of the chassis (1) is provided with a first through hole through which a wheel (15) can penetrate. The portion, at the front end of the first through hole, of the chassis (1) is fixedly provided with a spring guide rod fixing base (2). The portion, at the rear end of the first through hole, of the chassis (1) is fixedly provided with a supporting base (6). According to the wheeled mobile robot suspension device, it can be ensured that a driving wheel is landed always, the ground adaptive capacity of the chassis of a robot is improved, the phenomenon that the driving wheel is suspended by a driven wheel, and therefore the driving wheel idles or slides to affect robot movement is avoided, meanwhile, vibration transferred to the robot chassis when the wheels of the robot move on the ground can be effectively relieved, and the device is simple in structure and convenient to control.

The invention belongs to the field of industrial automation and particularly relates to a four-wheel-driven robot self-propelling chassis with rocker shafts. The four-wheel-driven robot self-propelling chassis comprises a chassis body (1), a connection mechanism (15), a front shaft steering system, a rear shaft drive system and a hydraulic lifting system, wherein the connection mechanism (15) is arranged on the chassis body (1); the front shaft steering system is arranged on the front portion of the chassis body (1) and comprises a steering stepping motor-speed reducer set (4), a front shaft (3), a steering system bearing (5), a front shaft bevel gear (6) and steering wheel systems (2); the rear shaft drive system is arranged on the rear portion of the chassis body (1) and comprises a drive motor-speed reducer set (11), a rear shaft (12), a drive system bearing (13), a rear shaft chain wheel (9) and drive wheel systems (8); and the hydraulic lifting system comprises a hydraulic cylinder (14), a hydraulic oil source system, a synchronous valve and a hydraulic pipeline, and the hydraulic cylinder (14), the hydraulic oil source system and the synchronous valve communicate through the hydraulic pipeline.

The invention relates to the field of steel smelting, and particularly discloses a method of reducing contents of free calcium oxide and magnesium oxide in converter steel slag and improving steel slag stability. The method includes maintaining the temperature of the steel slag by utilization of waste heat after liquid steel slag pelletization treatment, increasing pressure during a temperature maintaining process, and subjecting the pelletized steel slag to autoclaving treatment. By utilization of the technology, the waste heat after steel slag treatment is effectively utilized, and therefore heat lost during treatment processes of the steel slag is utilized reasonably and effectively, thus saving energy, and increasing additional value of steel slag production.

The invention discloses a hopping robot with a posture balance adjustment mechanism. The hopping robot includes a hopping robot body and a tail balance mechanism arranged on the hopping robot body; the tail balance mechanism includes a connecting frame fixed on the hopping robot body, a tail body, and a tail control mechanism which is arranged between the connecting frame and the tail body and used for driving the tail body to swing relative to the connecting frame; the tail control mechanism includes a first bevel gear and a second bevel gear which are coaxially and oppositely arranged on theconnecting frame and are correspondingly driven by a first driving motor and a second driving motor respectively to rotate, and a third bevel gear and a fourth bevel gear which are coaxially and oppositely arranged on the tail body and are meshed between the first bevel gear and the second bevel gear. According to the hopping robot with the posture balance adjustment mechanism, it can be ensuredthat the tail balance mechanism can adjust postures during the rising phase of the robot, so that the robot comes to the ground in a proper posture.

The invention discloses a precise positioning and fixing device for assisting the landing of the drone, which solves the problem of poor positioning accuracy of the landing of the drone in the prior art. The work provides convenience, and the scheme is as follows: a precise positioning slot for assisting the landing of the drone, including a limit slot for limiting the arm of the drone, the limit slot includes a flat brace set at the bottom, a flat brace The side is connected with the landing surface, the landing surface is a flat or curved surface, and the landing surface and the flat support are set at an angle. After the support leg of the UAV arm contacts the landing surface, it falls onto the flat support along the landing surface to achieve precise positioning.

The invention relates to the technical field of AGVs, and discloses an omnidirectional differential wheel structure. The omnidirectional differential wheel structure comprises a fixing base, a differential wheel device, an angle encoder, a transmission gear and an angle gear; rolling grooves are formed in the fixing base, the differential wheel device rolls in the rolling grooves in the fixing base through conical shafts, and the transmission gear is installed on the differential wheel device; and the differential wheel device comprises a frame, a servo motor and a differential wheel. According to the omnidirectional differential wheel structure, a differential wheel set is integrally connected with the symmetrically-arranged conical shafts through bearings, the rolling grooves matched with the conical shafts are formed in the fixing base, and through the conical shafts arranged in a stacked mode, when the ground is uneven, the differential wheel set can be automatically adjusted to ensure that two differential wheels touch the ground, and the differential steering effect is ensured; and by matching with the conical shafts connected with the bearings, the differential wheel set can be smoothly steered and adjusted in the rolling grooves, the overall structure is simple, and the effect is stable and reliable.

The invention discloses a building with fire-fighting and rescue functions. Rope pay-off equipment is arranged in the set position on the building. The rope pay-off equipment comprises an electric rope winder and a cantilever. The cantilever is provided with a pulley or a rotating disc or a rotating shaft or a roller or a hanging supporting piece. The electric rope winder comprises a rope winding cylinder, a gear or a chain belt or a conveying belt or a transmission shaft and a motor. The motor is connected with the periphery of the middle of the rope winding cylinder through the gear or the chain belt or the conveying belt or the transmission shaft and can drive the rope winding cylinder to rotate. An inner hole penetrating through the rope winding cylinder is formed in the rope winding cylinder.

The invention provides a steel bar trolley suitable for construction of a turning section. The steel bar trolley comprise a steel bar trolley truss, a plurality of layers of side face platforms located on the two sides of the steel bar trolley truss correspondingly, trolley crawling ladders, traveling systems and a rail. A plurality of sets of connecting holes are formed in two corresponding bottom longitudinal beams of the steel bar trolley truss. Each traveling system comprises a traveling longitudinal beam, inner traveling steel wheels and outer traveling steel wheels, wherein the inner traveling steel wheels and the outer traveling steel wheels are installed on the traveling longitudinal beam and driven by a motor through a sprocket-chain transmission mechanism to travel on the rail, and the diameter of the inner traveling steel wheels is smaller than that of the outer traveling steel wheels. Traveling wheel hinging seats are hinged to the traveling longitudinal beams through rotary shafts. Connecting seats are installed at the tops of the traveling wheel hinging seats. A plurality of connecting holes are formed in the connecting seats. The connecting seats are connected with the bottom longitudinal beams in the steel bar trolley truss by means of connectors through the connecting holes in the connecting seats and connecting holes in the bottom longitudinal beams. According to the steel bar trolley, the universality is high, the traveling speed of the trolley is high, the requirement that the trolley operates to a specific position smoothly through turning can be met, and safety is achieved.